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강형주 ( Hyung Joo Kang ),김문배 ( Mun Bae Kim ),이재봉 ( Jae Bong Lee ),김봉식 ( Bong Sik Kim ),김영갑 ( Young Kab Kim ) 한국동물위생학회 2003 한국동물위생학회지 (KOJVS) Vol.26 No.2
This study was attempted to detect six benzimidazoles [thiabendazole(TBZ), oxfendazole (OFZ), mebendazole(MBZ), flubendazole(FLBZ), albendazole(ABZ), and febendazole(FBZ)] in eggs using high performance liquid chromatography(I-TPLC) with photodiode array detector (DAD) simultaneously. The eluates were determined by HPLC on a waters X-Terra tm C18 reverse-phase column(4.6 X 250 run, 5um) with DAD at 295nm. The mobile phase was 0.04M ammonium phosphate(pH 7.5)! ACN(62.28 v/v) run isocratically. The calibration curves were linear(r>0.999) for six benzimidazoles. Average recovery rate from eggs were 94.54% for TBZ, 97,71% for OFZ, 88.82% for MBZ. 93.71% for FLBZ, 78.61% for ABZ, and 75.09% for FBZ, respectively. The limits of detection and quantification were 2.27ppb, 3.88 for TBZ, 9.34ppb, 15.6lppb for OFZ, 28.53ppb, 45.l5ppb for MBZ, 27.39ppb, 40.96ppb for FBZ, 8.6lppb, 13.96ppb for ABZ and 12.79ppb, 22.34ppb for FBZ, respectively.
강형주(Hyung-Joo Kang),만동우(Dong-Woo Man),김현식(Hyun-Sik Kim) 한국지능시스템학회 2014 한국지능시스템학회논문지 Vol.24 No.4
최근에는 크기 및 비용의 관점에서 많은 장점을 갖는 초소형 해양로봇(Micro Marine Robot : MMR)의 개발 및 적용에 대한 요구가 증가하고 있다. 하지만 국내에서는 그 기반이 매우 부족한 상황이다. 다행히도 초소형 수상로봇(Micro Surface Robot : MSR)의 장애물회피와 관련해서는 크기와 성능의 관점에서 최적화되어 4방향 탐지가 가능한 장애물회피소나(Obstacle Avoidance Sonar : OAS)가 개발되었으나, 제한된 빔폭(beam width) 및 탐지거리를 갖는 고정 소나빔의 사용으로 인하여 장애물의 형상에 따라 탐지성능이 저하되는 문제점이 존재했다. 이러한 문제를 해결하기 위하여, 본 논문에서는 평기어(spur gear) 및 서보모터를 활용하여 회전 소나빔을 구현한 MSR의 메커니즘을 제안하였다. 제안된 메커니즘의 검증을 위해 다각 평면 장애물에 대한 MSR의 벽면 추적(wall-tracking) 문제를 고려하였고, 탐지성능 및 구동명령 측면에서 기존의 고정 소나빔 적용 시와 비교 및 분석을 수행하였다. 실험결과는 제안된 메커니즘의 타당성을 보여준다. Recently, the needs for the development and application of the micro marine robot (MMR) which has the advantages in terms of size and cost are increasing. However, the basis is very short in the domestic. While the obstacle avoidance sonar (OAS) which was optimized in terms of size and performance and has the ability of 4-directional detection was developed for the obstacle avoidance of the micro surface robot (MSR) fortunately, the problem that the detection performance is degraded according to the shape of the obstacle because of using the fixed sonar-beam with the limited beam width and detection range exists. To solve this problem, the MSR mechanism that implements the rotating sonar-beam using the spur gear and the servo motor is proposed in this paper. To verify the performance of the proposed mechanism, the wall-tracking of the MSR is considered and the comparison and analysis in term of detection performance and actuation command is performed with conventional fixed sonar-beam. The test results show the validity of the proposed mechanism.
수중로봇키트 모형의 SE기반 개발을 통한 공학교육 사례
김현식(Hyun-sik Kim),강형주(Hyung-Joo Kang),만동우(Dong-Woo Man) 한국공학교육학회 2012 공학교육연구 Vol.15 No.3
This paper deals with an example of the engineering education through the SE-based development of an underwater-robot kit model. It has a purpose of establishing the example of a SE-based development by undergraduate through executing the requirement and functional analysis, hardware and software design, manufacturing, test and evaluation for developing the model. In addition, it also has a purpose of establishing the basis of the development of an optimized underwater-robot kit through understanding the weight and buoyancy characteristics and the actuation and propulsion characteristics of the developed model.
김현식(Hyun-Sik Kim),강형주(Hyung-Joo Kang),함연재(Youn-Jae Ham),박승수(Seung Soo Park) 한국지능시스템학회 2012 한국지능시스템학회논문지 Vol.22 No.3
최근에는, 극한 분야에서 해양로봇의 필요성이 제기되고 있으나, 그 기반이 매우 부족한 실정이다. 다행히 로봇경진대회가 활성화되고 로봇교육에 대한 수요가 증가하는 추세이므로, 해양로봇키트의 개발/보급을 통하여 해양로봇 연구개발/산업화 기반을 마련하고 전문인력을 양성하는 것이 바람직하다. 그런데, 기존에는 수중이동 및 표적 탐지/회피가 가능한 해양로봇 경진대회용 수중형 자율운항 해양로봇키트가 없었다. 이 문제를 해결하기 위해서 수중이동성, 수중방수성 및 무게조절성이 우수한 보급형 해양로봇키트가 개발되었다. 개발된 키트의 성능 검증을 위해서 Surge, Pitch, Yaw, 장애물회피 등의 시험평가가 수행되었다. 시험평가 결과는 개발된 키트의 실제 적용 가능성을 보여준다. Recently, although the need of marine robots being raised in extreme areas, the basis is very deficient. Fortunately, as the robot competition is vitalizing and the need of the robot education is increasing, it is desirable to establish the basis of the R&D and industrialization of marine robots and to train professionals through the development and diffusion of marine robot kits. However, in conventional case, there is no underwater-type autonomous marine robot kit for the marine robot competition, which has the abilities of the underwater locomotion and target detection and avoidance. To solve this problem, a marine robot kit which has the abilities of the underwater locomotion, the waterproof and the weight adjustment, is developed. To verify the performance of the developed kit, test and evaluation such as surge, pitch, yaw, obstacle avoidance is performed. The test and evaluation results show that the possibility of the real applications of the developed kit.